version: 66.12
glider: 197
mission: 6
dive: 33
start: 7 30 114 13 17 3
data:
$ID,197
$MISSION,6
$DIVE,33
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,750
$D_ABORT,1010
$D_NO_BLEED,50
$D_BOOST,100
$T_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,215
$T_MISSION,250
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,54283
$MASS_COMP,0
$NAV_MODE,10
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0029
$HD_B,0.013
$HD_C,1.7e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,674.87756
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,-20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-6978.6992
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,183
$PITCH_MAX,3878
$C_PITCH,2492
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,32
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3713
$ROLL_DEG,40
$C_ROLL_DIVE,2550
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3292
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.00069999998
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-65.523643
$PRESSURE_SLOPE,0.000117962
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,640
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,54
$LOGGERDEVICE2,71
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,101
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044180104
$SEABIRD_T_H,0.00064742006
$SEABIRD_T_I,2.6339721e-05
$SEABIRD_T_J,3.2479679e-06
$SEABIRD_C_G,-9.7930565
$SEABIRD_C_H,1.1220138
$SEABIRD_C_I,-0.0013403301
$SEABIRD_C_J,0.000180146
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,300714,130456,7106.197,-14454.732,29,1.0,49,28.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-74.8
$GPS2,300714,131645,7106.244,-14454.736,12,1.0,32,28.3
$SPEED_LIMITS,0.201,0.243
$TGT_NAME,5
$TGT_LATLONG,7136.000,-14550.000
$TGT_RADIUS,2000.000
$MHEAD_RNG_PITCHd_Wd,308.9,63879,-21.8,-11.628,-25.61,1935
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,16,-0.78,-145.9,179,2557,409,606,0.0,0.0,0,73,0.00,0.00,-53.58,0.000,16386,0.000,0.000,178,2556,1852,1859,1846,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.78,-145.9,178,2557,1860,1847,3.2,-2.3,5,133,11.12,0.00,-39.47,0.000,19206,0.470,0.000,2231,2555,3890,3866,3915,0,0,0,0,0,0,14.23,28.83,14.64
$GC,427,-0.68,-145.9,2227,2558,3866,3921,81.9,-20.0,43,437,0.15,2.42,0.00,0.000,2564,0.321,0.085,2263,1138,3892,3865,3920,0,0,0,0,0,0,14.45,14.54,28.83
$GC,511,-0.68,-145.9,2264,1137,3866,3921,96.4,-16.7,59,520,0.00,2.53,0.00,0.000,1030,0.000,0.112,2256,2545,3893,3865,3921,0,0,0,0,0,0,28.83,14.54,28.83
$GC,824,-0.68,-145.9,2257,2547,3865,3921,147.3,-15.9,91,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2257,2546,3893,3865,3921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1124,-0.71,-145.9,2257,2547,3866,3921,187.7,-12.5,121,1132,0.00,2.40,0.00,0.000,516,0.000,0.086,2257,1147,3893,3866,3921,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1207,-0.76,-145.9,2257,1148,3866,3921,197.4,-11.6,137,1214,0.00,2.50,0.00,0.000,1030,0.000,0.114,2251,2553,3892,3865,3920,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1519,-0.81,-145.9,2251,2554,3865,3921,235.0,-11.7,169,1521,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2553,3892,3864,3921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1829,-0.86,-145.9,2251,2554,3864,3917,270.0,-11.1,188,1837,0.12,2.42,0.00,0.000,4612,0.158,0.086,2202,1140,3891,3862,3921,0,0,0,0,0,0,14.70,14.64,28.83
$GC,2011,-0.86,-145.9,2203,1139,3863,3921,293.9,-13.5,224,2019,0.00,2.53,0.00,0.000,1030,0.000,0.114,2191,2556,3891,3862,3920,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2343,-0.83,-145.9,2192,2557,3861,3921,340.5,-14.1,240,2351,0.12,2.40,0.00,0.000,2564,0.338,0.083,2218,1151,3890,3860,3920,0,0,0,0,0,0,14.55,14.69,28.83
$GC,2455,-0.85,-145.9,2218,1150,3863,3921,354.5,-12.4,262,2463,0.00,2.50,0.00,0.000,1030,0.000,0.112,2213,2558,3889,3859,3920,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2767,-0.85,-145.9,2214,2559,3860,3921,394.1,-12.7,274,2775,0.00,2.40,0.00,0.000,516,0.000,0.086,2213,1142,3890,3860,3920,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2864,-0.85,-145.9,2214,1142,3861,3921,406.3,-12.2,293,2872,0.00,2.50,0.00,0.000,1030,0.000,0.112,2209,2554,3889,3859,3920,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3191,-0.85,-145.9,2209,2555,3859,3920,447.7,-12.6,308,3199,0.00,2.40,0.00,0.000,516,0.000,0.086,2208,1138,3890,3860,3920,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3253,-0.85,-145.9,2208,1138,3860,3921,455.5,-12.7,320,3260,0.00,2.50,0.00,0.000,1030,0.000,0.112,2202,2550,3890,3860,3920,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3585,-0.85,-145.9,2203,2550,3860,3921,498.2,-12.8,336,3592,0.00,2.38,0.00,0.000,516,0.000,0.086,2202,1147,3890,3860,3920,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3687,-0.85,-145.9,2203,1148,3860,3921,511.3,-12.7,356,3694,0.00,2.47,0.00,0.000,1030,0.000,0.112,2196,2551,3889,3859,3920,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4008,-0.85,-145.9,2203,2551,3860,3919,552.9,-13.0,370,4016,0.00,2.40,0.00,0.000,516,0.000,0.086,2197,1137,3889,3859,3920,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4115,-0.85,-145.9,2198,1137,3860,3921,566.2,-12.1,391,4126,0.00,2.50,0.00,0.000,1030,0.000,0.112,2190,2555,3890,3860,3920,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4435,-0.83,-145.9,2191,2556,3860,3920,607.9,-13.0,404,4443,0.12,2.40,0.00,0.000,2564,0.354,0.083,2216,1144,3889,3859,3920,0,0,0,0,0,0,14.61,14.75,28.83
$GC,4528,-0.87,-145.9,2217,1142,3860,3921,618.4,-11.2,422,4536,0.00,2.47,0.00,0.000,1030,0.000,0.110,2212,2551,3888,3858,3919,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4859,-0.87,-145.9,2212,2551,3860,3921,657.3,-11.8,438,4868,0.00,2.38,0.00,0.000,516,0.000,0.085,2212,1145,3889,3859,3920,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4972,-0.90,-145.9,2211,1147,3860,3921,670.3,-11.4,460,4980,0.00,2.47,0.00,0.000,1030,0.000,0.111,2208,2551,3889,3858,3920,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5285,-0.90,-145.9,2208,2552,3860,3921,707.8,-12.0,472,5293,0.00,2.35,0.00,0.000,516,0.000,0.085,2208,1152,3889,3859,3920,0,0,0,0,0,0,28.83,14.74,28.83
$GC,5378,-0.93,-145.9,2208,1152,3859,3921,718.5,-11.2,490,5385,0.00,2.47,0.00,0.000,1030,0.000,0.112,2202,2558,3889,3859,3920,0,0,0,0,0,0,28.83,14.73,28.83
$STATE,5648,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5649,begin apogee
$GC,5651,-0.16,0.0,2203,2400,3860,3920,751.4,-12.1,504,5834,0.90,0.00,178.27,1.493,10246,0.281,0.000,2438,2400,3295,3253,3337,0,0,0,0,0,0,14.64,28.83,13.35
$STATE,5836,end apogee,CONTROL_FINISHED_OK
$STATE,5836,begin climb
$GC,5837,0.78,145.9,2437,2400,3239,3331,756.6,0.0,510,5980,1.00,2.62,125.20,1.764,10756,0.143,0.090,2748,1009,2685,2615,2755,0,0,0,0,0,0,13.97,13.73,13.08
$GC,6069,0.71,145.9,2749,1009,2607,2749,736.9,13.0,549,6078,0.12,2.55,0.00,0.000,5126,0.304,0.098,2726,2405,2676,2605,2748,0,0,0,0,0,0,13.95,14.07,28.83
$GC,6388,0.63,145.9,2727,2405,2602,2748,695.2,13.1,562,6390,0.12,0.00,0.00,0.000,4102,0.319,0.000,2701,2405,2676,2604,2748,0,0,0,0,0,0,14.28,28.83,28.83
$GC,6688,0.59,145.9,2701,2405,2603,2748,660.0,11.7,572,6691,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2405,2675,2603,2748,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6987,0.56,145.9,2701,2406,2604,2749,625.0,11.6,582,6990,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2405,2675,2602,2748,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7288,0.53,152.0,2701,2405,2604,2749,590.6,11.3,592,7290,0.15,0.00,0.00,0.000,4102,0.298,0.000,2667,2406,2675,2603,2748,0,0,0,0,0,0,14.52,28.83,28.83
$GC,7588,0.59,200.1,2668,2406,2603,2748,562.6,9.1,602,7638,0.00,0.00,46.20,1.525,8198,0.000,0.000,2668,2405,2475,2396,2555,0,0,0,0,0,0,28.83,28.83,13.73
$GC,7918,0.65,223.2,2669,2406,2373,2534,528.8,10.4,613,7940,0.00,0.00,19.48,1.457,8198,0.000,0.000,2668,2405,2381,2302,2460,0,0,0,0,0,0,28.83,28.83,13.79
$GC,8218,0.72,235.1,2668,2406,2282,2442,496.1,11.0,623,8225,0.17,0.00,3.35,0.911,10246,0.117,0.000,2735,2406,2331,2251,2411,0,0,0,0,0,0,14.57,28.83,13.79
$GC,8518,0.66,235.1,2736,2404,2277,2426,450.5,15.6,633,8523,0.00,0.00,2.20,0.424,8198,0.000,0.000,2735,2405,2331,2253,2409,0,0,0,0,0,0,28.83,28.83,13.82
$GC,8818,0.61,235.1,2735,2406,2277,2423,403.1,15.7,643,8823,0.20,0.00,1.98,0.223,12294,0.281,0.000,2689,2569,2331,2253,2409,0,0,0,0,0,0,14.53,28.83,14.58
$GC,9118,0.64,235.1,2689,2589,2277,2423,365.3,12.4,653,9126,0.00,2.83,1.83,0.226,8708,0.000,0.091,2699,994,2332,2255,2409,0,0,0,0,0,0,28.83,14.66,14.61
$GC,9180,0.67,235.1,2699,995,2272,2419,357.6,12.0,665,9188,0.00,2.45,1.48,0.243,9222,0.000,0.101,2699,2401,2330,2254,2407,0,0,0,0,0,0,28.83,14.66,14.60
$GC,9512,0.67,235.1,2699,2402,2277,2421,315.3,12.7,681,9517,0.00,0.00,1.77,0.231,8198,0.000,0.000,2699,2401,2331,2254,2409,0,0,0,0,0,0,28.83,28.83,14.63
$GC,10728,0.82,439.0,2699,2402,2277,2421,279.1,0.8,691,10922,0.17,0.00,183.68,1.173,10246,0.121,0.000,2773,2400,1486,1378,1594,0,0,0,0,0,0,14.71,28.83,13.52
$GC,11218,0.82,439.0,2773,2402,1360,1579,179.3,20.1,728,11221,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2401,1468,1359,1578,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11518,0.85,439.0,2772,2402,1358,1578,126.6,16.4,758,11527,0.00,2.47,0.00,0.000,516,0.000,0.093,2779,990,1467,1357,1577,0,0,0,0,0,0,28.83,14.49,28.83
$GC,11561,0.90,439.0,2780,990,1358,1577,119.8,16.2,766,11569,0.00,2.50,0.00,0.000,1030,0.000,0.101,2779,2397,1466,1356,1577,0,0,0,0,0,0,28.83,14.49,28.83
$GC,11873,0.94,439.0,2780,2398,1357,1577,71.9,14.5,798,11881,0.00,2.35,0.00,0.000,260,0.000,0.116,2779,3721,1466,1356,1576,0,0,0,0,0,0,28.83,14.53,28.83
$GC,11895,0.96,439.0,2779,3721,1357,1577,68.4,15.2,802,11903,0.00,2.20,0.00,0.000,1030,0.000,0.069,2788,2404,1466,1356,1576,0,0,0,0,0,0,28.83,14.53,28.83
$GC,12208,1.05,450.7,2789,2402,1356,1576,29.5,11.0,834,12216,0.12,2.40,1.85,0.207,10500,0.143,0.116,2848,3715,1451,1340,1562,0,0,0,0,0,0,14.59,14.57,14.54
$GC,12245,0.97,450.7,2849,3716,1343,1562,23.9,16.8,841,12255,0.22,2.20,0.00,0.000,5126,0.279,0.069,2806,2396,1453,1344,1562,0,0,0,0,0,0,14.46,14.57,28.83
$GC,12551,1.28,652.0,2811,2395,1355,1562,13.3,0.9,872,12653,0.28,2.47,92.18,0.214,10756,0.093,0.096,2928,988,630,517,744,0,0,0,0,0,0,14.66,14.49,14.43
$GC,12763,1.49,754.9,2928,989,529,746,2.4,6.2,909,12775,0.12,2.50,4.10,0.203,11266,0.142,0.100,2984,2404,602,494,711,0,0,0,0,0,0,14.56,14.52,28.83
$STATE,12775,end climb,SURFACE_DEPTH_REACHED
$STATE,12775,begin surface coast
$FINISH,1.3,1.018466
$STATE,12778,end surface coast,CONTROL_FINISHED_OK
$STATE,12778,begin surface
$SM_CCo,12799,7.95,0.197,0,0,538,675.07
$SM_GC,3.82,8.48,0.28,7.95,0.098,0.126,0.197,183,2566,538,-7.18,-0.48,675.07,0,0,0,0,0,0,14.53,14.54,14.47
$RAFOS_CLK,207361
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,7032.78,-14459.39,300714,094512
$TT8_MAMPS,0.041195,0.041195
$HUMID,45.51
$INTERNAL_PRESSURE,8.64952
$TCM_TEMP,12.90
$XPDR_PINGS,0
$SC_FREEKB,3923392
$TM_FREEKB,7547812
$24V_AH,13.08,19.455
$10V_AH,12.78,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,23.725,83.875,663.550,7.950,0.000,0.000,0.000,438.875,1.500,0.000,35.061,0.000,9004.565,841.796,2634.569,100.667,0.000,2091.594,0.000,1345.969,1496.000,11.787,0.000
$DEVICE_MAMPS,469.710,126.225,1764.090,196.605,0.000,0.000,0.000,192.015,420.000,0.000,20.970,0.000,2.310,11.720,30.450,43.930,0.000,10.000,0.000,5.000,48.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12801.000,12879.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.766,13.437,0.000,0.000
$MEM,300576
$DATA_FILE_SIZE,30010,911
$CAP_FILE_SIZE,155032,0
$CFSIZE,1047117824,1037058048
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,12166.97,0x2378b6,7,5
$SOUNDSPEED,1453.1
$EKF,11968,4267.867188,-8697.214844,1.324362,0.161925,0.011539,-0.053653,0.002944,0.028128,0.000099,0.002125,0.002125,0.000053
$CURRENT,0.036,214.83,1
$GPS,300714,163628,7107.661,-14457.659,36,1.9,56,28.3